/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/vision/types.h>
#include <mrpt/vision/CFeature.h>

namespace mrpt
{
namespace vision
{
namespace detail
{
// Private auxiliary classes
template <typename distance_t, typename element_t = uint8_t>
struct TSIFTDesc2KDTree_Adaptor;
template <typename distance_t, typename element_t = float>
struct TSURFDesc2KDTree_Adaptor;
}  // namespace detail

/** \defgroup mrptvision_descr_kdtrees KD-Tree construction of visual
 * descriptors
 * \ingroup mrpt_vision_grp
 */

/** \addtogroup  mrptvision_descr_kdtrees
	@{ */

/** A kd-tree builder for sets of features with SIFT descriptors.
 *   Example of usage:
 *  \code
 *    TSIFTDescriptorsKDTreeIndex<double>  feats_kdtree(feats);
 *    feats_kdtree.get_kdtree().knnSearch( ... );
 *  \endcode
 * \sa CFeatureList, mrpt::vision::find_descriptor_pairings
 */
template <
	typename distance_t,
	class metric_t = nanoflann::L2_Simple_Adaptor<
		uint8_t /*SIFT desc elements*/,
		detail::TSIFTDesc2KDTree_Adaptor<distance_t>, distance_t>>
struct TSIFTDescriptorsKDTreeIndex
{
   public:
	using kdtree_t = typename nanoflann::KDTreeSingleIndexAdaptor<
		metric_t, detail::TSIFTDesc2KDTree_Adaptor<distance_t>>;

	/** Constructor from a list of SIFT features.
	 *  Automatically build the KD-tree index. The list of features must NOT be
	 * empty or an exception will be raised.
	 */
	TSIFTDescriptorsKDTreeIndex(const CFeatureList& feats)
		: m_adaptor(feats), m_kdtree(nullptr), m_feats(feats)
	{
		ASSERT_(!feats.empty() && feats[0]->descriptors.hasDescriptorSIFT());
		this->regenerate_kdtreee();
	}

	/** Re-creates the kd-tree, which must be done whenever the data source (the
	 * CFeatureList) changes. */
	void regenerate_kdtreee()
	{
		if (m_kdtree) delete m_kdtree;

		nanoflann::KDTreeSingleIndexAdaptorParams params;
		m_kdtree = new kdtree_t(
			m_feats[0]->descriptors.SIFT.size() /* DIM */, m_adaptor, params);
		m_kdtree->buildIndex();
	}

	/** Access to the kd-tree object */
	kdtree_t& get_kdtree() { return *m_kdtree; }
	const kdtree_t& get_kdtree() const { return *m_kdtree; }
	~TSIFTDescriptorsKDTreeIndex()
	{
		delete m_kdtree;
		m_kdtree = nullptr;
	}

   private:
	detail::TSIFTDesc2KDTree_Adaptor<distance_t> m_adaptor;
	kdtree_t* m_kdtree;

	const CFeatureList& m_feats;
};  // end of TSIFTDescriptorsKDTreeIndex

/** A kd-tree builder for sets of features with SURF descriptors.
 *   Example of usage:
 *  \code
 *    TSURFDescriptorsKDTreeIndex<double>  feats_kdtree(feats);
 *    feats_kdtree.get_kdtree().knnSearch( ... );
 *  \endcode
 * \sa CFeatureList, mrpt::vision::find_descriptor_pairings
 */
template <
	typename distance_t,
	class metric_t = nanoflann::L2_Simple_Adaptor<
		float /*SURF desc elements*/,
		detail::TSURFDesc2KDTree_Adaptor<distance_t>, distance_t>>
struct TSURFDescriptorsKDTreeIndex
{
   public:
	using kdtree_t = typename nanoflann::KDTreeSingleIndexAdaptor<
		metric_t, detail::TSURFDesc2KDTree_Adaptor<distance_t>>;

	/** Constructor from a list of SIFT features.
	 *  Automatically build the KD-tree index. The list of features must NOT be
	 * empty or an exception will be raised.
	 */
	TSURFDescriptorsKDTreeIndex(const CFeatureList& feats)
		: m_adaptor(feats), m_kdtree(nullptr), m_feats(feats)
	{
		ASSERT_(!feats.empty() && feats[0]->descriptors.hasDescriptorSIFT());
		this->regenerate_kdtreee();
	}

	/** Re-creates the kd-tree, which must be done whenever the data source (the
	 * CFeatureList) changes. */
	void regenerate_kdtreee()
	{
		if (m_kdtree) delete m_kdtree;

		nanoflann::KDTreeSingleIndexAdaptorParams params;
		m_kdtree = new kdtree_t(
			m_feats[0]->descriptors.SIFT.size() /* DIM */, m_adaptor, params);
		m_kdtree->buildIndex();
	}

	/** Access to the kd-tree object */
	kdtree_t& get_kdtree() { return *m_kdtree; }
	const kdtree_t& get_kdtree() const { return *m_kdtree; }
	~TSURFDescriptorsKDTreeIndex()
	{
		delete m_kdtree;
		m_kdtree = nullptr;
	}

   private:
	detail::TSURFDesc2KDTree_Adaptor<distance_t> m_adaptor;
	kdtree_t* m_kdtree;

	const CFeatureList& m_feats;
};  // end of TSURFDescriptorsKDTreeIndex

/** @} */

namespace detail
{
template <typename distance_t, typename element_t>
struct TSIFTDesc2KDTree_Adaptor
{
	const CFeatureList& m_feats;
	TSIFTDesc2KDTree_Adaptor(const CFeatureList& feats) : m_feats(feats) {}
	// Must return the number of data points
	inline size_t kdtree_get_point_count() const { return m_feats.size(); }
	// Must return the Euclidean (L2) distance between the vector "p1[0:size-1]"
	// and the data point with index "idx_p2" stored in the class:
	inline distance_t kdtree_distance(
		const element_t* p1, const size_t idx_p2, size_t size) const
	{
		const size_t dim = m_feats[idx_p2]->descriptors.SIFT.size();
		const element_t* p2 = &m_feats[idx_p2]->descriptors.SIFT[0];
		distance_t d = 0;
		for (size_t i = 0; i < dim; i++)
		{
			d += (*p1 - *p2) * (*p1 - *p2);
			p1++;
			p2++;
		}
		return d;
	}
	// Must return the dim'th component of the idx'th point in the class:
	inline element_t kdtree_get_pt(const size_t idx, int dim) const
	{
		return m_feats[idx]->descriptors.SIFT[dim];
	}
	template <class BBOX>
	bool kdtree_get_bbox(BBOX& bb) const
	{
		return false;
	}
};

template <typename distance_t, typename element_t>
struct TSURFDesc2KDTree_Adaptor
{
	const CFeatureList& m_feats;
	TSURFDesc2KDTree_Adaptor(const CFeatureList& feats) : m_feats(feats) {}
	// Must return the number of data points
	inline size_t kdtree_get_point_count() const { return m_feats.size(); }
	// Must return the Euclidean (L2) distance between the vector "p1[0:size-1]"
	// and the data point with index "idx_p2" stored in the class:
	inline distance_t kdtree_distance(
		const element_t* p1, const size_t idx_p2, size_t size) const
	{
		const size_t dim = m_feats[idx_p2]->descriptors.SURF.size();
		const element_t* p2 = &m_feats[idx_p2]->descriptors.SURF[0];
		distance_t d = 0;
		for (size_t i = 0; i < dim; i++)
		{
			d += (*p1 - *p2) * (*p1 - *p2);
			p1++;
			p2++;
		}
		return d;
	}
	// Must return the dim'th component of the idx'th point in the class:
	inline element_t kdtree_get_pt(const size_t idx, int dim) const
	{
		return m_feats[idx]->descriptors.SURF[dim];
	}
	template <class BBOX>
	bool kdtree_get_bbox(BBOX& bb) const
	{
		return false;
	}
};
}  // namespace detail
}  // namespace vision
}  // namespace mrpt
